Shared-Control Paradigms in Multi-Operator-Single-Robot Teleoperation
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Extending classical bilateral teleoperation systems to multi-user scenarios allows to broaden their capabilities and extend their applicability to more complex manipulation tasks. In this paper a classical Single-Operator-Single-Robot (SOSR) system is extended to a Multi-Operator-Single-Robot (MOSR) architecture. Two shared-control paradigms which enable visual only or visual and haptic coupling of the two human operators are introduced. A pointing task experiment was conducted to evaluate the two control paradigms and to compare them to a classical SOSR system. Results reveal that operators benefit from the collaborative task execution only if haptic interaction between them is enabled.